A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
BSD 3-Clause "New" or "Revised" License
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Implement incident angle calculation to RaycastUsingDDA #348
https://github.com/at-wat/mcl_3dl/blob/83f64f1f3dd92b822029c11fc34e597bdf1cf08c/include/mcl_3dl/raycasts/raycast_using_dda.h#L155
(@nhatao)